Vehicle imaging system, vehicle imaging method and device, program, and recording medium

• US 10,395,104 B2
• Filed: 12/12/2018
• Issued: 08/27/2019
• Est. Priority Date: 10/19/2012
• Status: Active Grant

• Current Assignee: NEC Corporation
• Original Assignee: NEC Corporation
• Inventors: Iizuka, Yosuke
• Primary Examiner(s): Cattungal, Rowina J
• Application Number:
  US16/217,129
• Publication Number:
  US 20190114475A1
• Time in Patent Office: 258 Days
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/593 Recognising seat occupancy
• CPC Class Codes: G06V 20/597 Recognising the driver's state or behaviour, e.g. attention or drowsiness
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
• CPC Class Codes: G08G 1/0175 by photographing vehicles, e.g. when violating traffic rules
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

A system includes a laser displacement sensor which is provided on a shoulder of a roadway, emits a laser beam which scans a roadway space in a height direction thereof, receives a beam reflected by an object which is present in the roadway space, and measures a distance up to a reflection point on the object, at which the laser beam was reflected; and a vehicle window detection device that detects a window of the vehicle based on the distance measured by the laser displacement sensor. The vehicle window detection device detects the window of the vehicle based on a change in a distance in a horizontal direction from the laser displacement sensor to the reflection point after the vehicle in the roadway space was detected.

Claims

1. A vehicle imaging device that detects a window of a vehicle utilizing a laser displacement sensor which emits a laser beam which scans a side of the vehicle in a height direction of the vehicle, receives a beam reflected by the vehicle, and measures a distance from the laser displacement sensor to a reflection point on the vehicle, at which the laser beam was reflected, wherein:

the vehicle imaging device is configured to;

detect a candidate window of the vehicle based on a change in a distance from the laser displacement sensor to the reflection point;

verify whether a predetermined determination condition is satisfied for the candidate window;

when the determination condition has been continued over a predetermined time, determine the candidate window of the vehicle is a window of the vehicle, and

send a trigger for imaging to a camera when the window of the vehicle has been detected, wherein

the determination condition for the verifying process is whether or not (i) the position of the candidate window in the vertical direction is greater than or equal to a first threshold and also less than or equal to a second threshold, and (ii) the size of the candidate window in the vertical direction is greater than or equal to a predetermined width.

2. The vehicle imaging device in accordance with claim 1, wherein when the window of the vehicle has been detected, the vehicle imaging device sends a trigger for imaging an interior of the vehicle through the window to the camera.

3. The vehicle imaging device in accordance with claim 1, wherein when it is detected that the distance in the horizontal direction from the laser displacement sensor to the reflection point has increased, the vehicle imaging device determines that the window candidate of the vehicle has been detected.

4. A vehicle imaging method utilizing a laser displacement sensor which emits a laser beam which scans a side of the vehicle in a height direction of the vehicle, receives a beam reflected by the vehicle, and measures a distance from the laser displacement sensor to a reflection point on the vehicle, at which the laser beam was reflected,

the method comprising:

detecting a candidate window of the vehicle based on a change in a distance from the laser displacement sensor to the reflection point;

verifying whether a predetermined determination condition is satisfied for the candidate window;

when the determination condition has been continued over a predetermined time, determining the candidate window of the vehicle to a window of the vehicle, and

sending a trigger for imaging to a camera when the window of the vehicle has been detected, wherein

the determination condition for the verifying process is whether or not (i) the position of the candidate window in the vertical direction is greater than or equal to a first threshold and also less than or equal to a second threshold, and (ii) the size of the candidate window of the vehicle in the vertical direction is greater than or equal to a predetermined width.

5. The vehicle imaging method in accordance with claim 4, wherein when detecting the window of the vehicle, sending a trigger for imaging an interior of the vehicle through the window to the camera.

6. The vehicle imaging method in accordance with claim 4, wherein when it is detected that the distance in the horizontal direction from the laser displacement sensor to the reflection point has increased, determining that the window candidate of the vehicle has been detected.

7. A non-statutory recording medium that stores a program which makes a computer execute functions of:

detecting a window candidate of a vehicle utilizing a laser displacement sensor which emits a laser beam which scans a side of the vehicle in a height direction of the vehicle, receives a beam reflected by the vehicle, and measures a distance from the laser displacement sensor to a reflection point on the vehicle, at which the laser beam was reflected;

verifying whether a predetermined determination condition is satisfied for the candidate window;

when the determination condition has been continued over a predetermined time, determining the candidate window of the vehicle is a window of the vehicle, and

sending a trigger for imaging to a camera, that images the vehicle, when the window of the vehicle has been detected, wherein

the determination condition for the verifying process is whether or not (i) the position of the candidate window in the vertical direction is greater than or equal to a first threshold and also less than or equal to a second threshold, and (ii) the size of the candidate window in the vertical direction is greater than or equal to a predetermined width.

8. The non-statutory recording medium in accordance with claim 7, wherein when the window of the vehicle has been detected, the program causes the computer to send a trigger for imaging an interior of the vehicle through the window to the camera.

9. The non-statutory recording medium in accordance with claim 7, wherein when it is detected that the distance in the horizontal direction from the laser displacement sensor to the reflection point has increased, the program causes the computer to determine that the window candidate of the vehicle has been detected.

10. A vehicle imaging system comprising:

a camera that images a vehicle;

a laser displacement sensor which emits a laser beam which scans a roadway space in a height direction thereof, receives a beam reflected by an object which is present in the roadway space, and measures a distance up to a reflection point on the object, at which the laser beam was reflected; and

a vehicle imaging device;

wherein

the vehicle imaging device is configured to;

detect a candidate window of the vehicle based on a change in a distance from the laser displacement sensor to the reflection point;

verify whether a predetermined determination condition is satisfied for the candidate window;

when the determination condition has been continued over a predetermined time, determine the candidate window of the vehicle is a window of the vehicle, and

send a trigger for imaging to a camera when the window of the vehicle has been detected, wherein

the determination condition for the verifying process is whether or not (i) the position of the candidate window in the vertical direction is greater than or equal to a first threshold and also less than or equal to a second threshold, and (ii) the size of the candidate window in the vertical direction is greater than or equal to a predetermined width.